Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method

This paper proposes a method for active vibration control to a two-link flexible robot arm in the presence of time delay, by means of robust pole placement. The issue is of practical and theoretical interest as time delay in vibration control can cause instability if not properly taken into account...

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Autores principales:	José Mário Araújo, Jason Bettega, Nelson J. B. Dantas, Carlos E. T. Dórea, Dario Richiedei, Iacopo Tamellin
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	receptance method pole placement robust control active vibration control flexible systems robotic arm Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/da711bc0cd634237b8a78e5660f7d4d1
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id	oai:doaj.org-article:da711bc0cd634237b8a78e5660f7d4d1
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spelling	oai:doaj.org-article:da711bc0cd634237b8a78e5660f7d4d12021-11-11T15:00:30ZVibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method10.3390/app112199072076-3417https://doaj.org/article/da711bc0cd634237b8a78e5660f7d4d12021-10-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/21/9907https://doaj.org/toc/2076-3417This paper proposes a method for active vibration control to a two-link flexible robot arm in the presence of time delay, by means of robust pole placement. The issue is of practical and theoretical interest as time delay in vibration control can cause instability if not properly taken into account in the controller design. The controller design is performed through the receptance method to exactly assign a pair of pole and to achieve a given stability margin for ensuring robustness to uncertainty. The desired stability margin is achieved by solving an optimization problem based on the Nyquist stability criterion. The method is applied on a laboratory testbed that mimic a typical flexible robotic system employed for pick-and-place applications. The linearization assumption about an equilibrium configuration leads to the identification of the local receptances, holding for infinitesimal displacements about it, and hence applying the proposed control design technique. Nonlinear terms, due to the finite displacements, uncertainty, disturbances, and the coarse encoder quantization, are effectively handled by embedding the robustness requirement into the design. The experimental results, and the consistence with the numerical expectations, demonstrate the method effectiveness and ease of application.José Mário AraújoJason BettegaNelson J. B. DantasCarlos E. T. DóreaDario RichiedeiIacopo TamellinMDPI AGarticlereceptance methodpole placementrobust controlactive vibration controlflexible systemsrobotic armTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 9907, p 9907 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	receptance method pole placement robust control active vibration control flexible systems robotic arm Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	receptance method pole placement robust control active vibration control flexible systems robotic arm Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 José Mário Araújo Jason Bettega Nelson J. B. Dantas Carlos E. T. Dórea Dario Richiedei Iacopo Tamellin Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method
description	This paper proposes a method for active vibration control to a two-link flexible robot arm in the presence of time delay, by means of robust pole placement. The issue is of practical and theoretical interest as time delay in vibration control can cause instability if not properly taken into account in the controller design. The controller design is performed through the receptance method to exactly assign a pair of pole and to achieve a given stability margin for ensuring robustness to uncertainty. The desired stability margin is achieved by solving an optimization problem based on the Nyquist stability criterion. The method is applied on a laboratory testbed that mimic a typical flexible robotic system employed for pick-and-place applications. The linearization assumption about an equilibrium configuration leads to the identification of the local receptances, holding for infinitesimal displacements about it, and hence applying the proposed control design technique. Nonlinear terms, due to the finite displacements, uncertainty, disturbances, and the coarse encoder quantization, are effectively handled by embedding the robustness requirement into the design. The experimental results, and the consistence with the numerical expectations, demonstrate the method effectiveness and ease of application.
format	article
author	José Mário Araújo Jason Bettega Nelson J. B. Dantas Carlos E. T. Dórea Dario Richiedei Iacopo Tamellin
author_facet	José Mário Araújo Jason Bettega Nelson J. B. Dantas Carlos E. T. Dórea Dario Richiedei Iacopo Tamellin
author_sort	José Mário Araújo
title	Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method
title_short	Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method
title_full	Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method
title_fullStr	Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method
title_full_unstemmed	Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method
title_sort	vibration control of a two-link flexible robot arm with time delay through the robust receptance method
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/da711bc0cd634237b8a78e5660f7d4d1
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Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method

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